Method PixelToDistance2

ScanThread.cpp:433–463

compute distance to a point given the x pixel location and the width reference x pixel location

// compute distance to a point given the x pixel location and the width reference x pixel location
double ScanThread::PixelToDistance2(float laserCenter, float widthReference)
{
    // TODO: make generic for other sized cameras

    if (laserCenter > widthReference + 20)
    {
        // the detected laser appears to be to the right of the width reference.
        // this is almost certainly noise and will result in crazy distance calculations
        return -1;
    } else if (laserCenter > widthReference)
    {
        // might just be a slightly tilted laser
        laserCenter = widthReference;
    }

    double l = (widthReference) / pixelsPerCmOnFlatReference;
    double lPlusM = (laserCenter) / pixelsPerCmOnFlatReference;
    double m = l - lPlusM; // m is the object position projected on the flat reference background

    //double distFromRef = m * m_DistanceFromFlatReference / (DISPARITY_DISTANCE + m);

    double ret = distanceFromFlatReference - m * distanceFromFlatReference / (DISPARITY_DISTANCE + m);

    if (ret > 100)
    {
        DisplayText(wxT("\nWarning: large distance detected."));
    }

    return ret;

}

// Write a string to disk via an event to the frame
void ScanThread::WriteToFile(wxString str)